1

Equations for ECE 421, Final Exam

A. First-Order Systems
K
sp

IF G(s) =

AND H(s) = 1 THEN TCL (s) =

K
KT
K/ (K p)
K

=
=
=
1
s+K p
Ts + 1
s + 1/T
Kp s + 1

1
K
T ,
, cstep (t) =
1 et/T , Ts = 3.912T 4T, Tr = 2.197T 2.2T
K p
K p

K
cramp (t) =
t T + T et/T , e(t) = r(t) c(t), ess = lim [e(t)]
t
K p
B. Second-Order Systems
2n
s (s + 2 n )

IF G(s) =

AND H(s) = 1 THEN TCL (s) =

2
essramp =
n
q
2
1 THEN p1 , p2 = n n 1

s2

2n
2n
=
2
+ 2 n s + n
(s p1 ) (s p2 )

> 0 THEN essstep = 0,

IF
IF

..................................................................................................................

p2
p1
p1 t
IF > 1 THEN cstep (t) = 1 +
e
ep2 t
p1 p2
p1 p2
..................................................................................................................
5.835
n
..................................................................................................................
q
IF 0 < 1 THEN p1 , p2 = n j n 1 2
IF = 1 THEN cstep (t) = 1 en t ( n t + 1) ,

Ts =

Ts

q
en t
2
cstep (t) = 1 p

sin
(
t
+
)
,

= cos1 ()
d
d
n 1 ,
2
1
P O

ln
cmax (t) cf inal (t)
100
PO =
100% = e/ 1 100%, = q
O 2
cf inal (t)
2 + ln P100

4
,
n

Tp =

,
d

Tr (0 100%) =

,
d

Tr (10 90%)

1 + 1.1 + 1.4 2
n

OR

2.16 + 0.6
n

C. Steady-State Error
e () = ess = lim [e(t)] = lim [s E(s)]
t

s0

1 + G(s)H(s) G(s)
ess = lim s
R(s)
s0
1 + G(s)H(s)
..................................................................................................................
N +1q
s
A
,
s0 = 1
IF H(s) = 1 AND R(s) = q THEN ess = A lim N
s0 s + Kx
s
G(s) =

KN (s)
KN (s)
,
= N
D(s)
s D(s)

KN (0)
Kx = lim sN G(s) =
,
s0
D(0)

KError Constant = lim sq1 G(s)

s0

D. Root Locus

G(s)H(s) =

KN (s)
K (s z1 ) (s z2 ) (s zm )
=
=
D(s)
(s p1 ) (s p2 ) (s pn )

IF s = s1 is a closed-loop pole THEN

A =

180 (2l + 1)
,
nm

i=1
n
Q

i=1

(s zi )

(s pi )

|G (s1 ) H (s1 )| = 1 AND G (s1 ) H (s1 ) = 180 (2l + 1)

|G (s1 ) H (s1 )| = 1

m
Q

|K| =

|D (s1 )|
|N (s1 )|
A =

l = 0, 1, 2, . . . , n m 1

n
P

i=1

m
P

pi

zi

i=1

nm

[N (s)D0 (s) N 0 (s)D(s)]

dK
=0=
ds
N 2 (s)
#
"
n
m
n
m
X
X
X
X

d = 180 + 90 +
a = 180 90 +
pi
zi ,
pi
zi
i=3

i=1

i=1

i=3

E. Root Locus Design

Gc (s) =

Kc (s + zc )
,
(s + pc )

(s1 + zc ) =

s1 =

s1 + Gc (s1 )
,
2

4
Ts

1 + j tan cos1 ()

(s1 + pc ) =

s1 Gc (s1 )
2

Im (s1 )
Im (s1 )
|s1 + pc |
,
dpc =
,
Kc =
tan ( (s1 + zc ))
tan ( (s1 + pc ))
|s1 + zc | |Gp (s1 )|
..................................................................................................................
dzc =

g =

essactual
,
essspec

zcg =

|Re (s1 )|
,
100

pcg =

zcg
,
g

GcSpecLag =

(s + zcg )
(s + pcg )

F. Bode Plot Design

s

+1
Kc
Kc
(s + zc )
zc
=
Gc (s) =

,
s

(s + pc )
+1
pc
|G (j x )| = 1 0 db,

G (j ) = 180 ,

zc
,
pc

Kc =

P M = 180 + G (j x ) ,

essactual
essspec
GMdb = |G (j )|db

1 sin (max )
zcd
pcd =
,
zcd = xc d ,
1 + sin (max )
d

zcd + 1
1

at = max ,
db
= 10 log10 d
j

+
1
pcd

xc
zcg
zcg =
,
pcg =
g = |Kc Gp (j xc )|Abs Value = 10(|Kc Gp (jxc )|db )/20 ,
10
g

max = P Mspec + 10 P Muncomp ,

d =